结合操作者意图分析的Internet机器人控制方法研究  

Research of control method to Internet-based telerobot system based on operator intention analysis

作　　者：李响[1,2] 王越超[1] 

机构地区：[1]中科院沈阳自动化研究所机器人学国家重点实验室,沈阳110016 [2]中国科学院研究生院,北京100049

出　　处：《计算机工程与应用》2009年第21期29-32,共4页Computer Engineering and Applications

基　　金：国家自然科学基金(No.60334010)~~

摘　　要：互联网传输过程中存在的随机时延,影响了操作者与遥操作机器人之间的实时交互,降低了系统稳定性和操作性能。论文提出一种新的方法,利用动态神经元群模型对操作者发送的控制指令序列进行分析,实现对操作者意图的推断。在随机时延条件下,遥操作机器人能够根据操作者意图和当前环境信息,通过局部自主控制完成期望任务动作。同时可以与主端操作者基于事件的控制指令进行切换,来保证系统的稳定性,提高整个控制系统的操作性能和效率。最后,通过互联网足球机器人平台进行实验,仿真结果验证了所提模型与方法的有效性和可行性。The random time-delay exists in the Internet can influence the real-time interaction between the operator and telerobot.And it also reduces the stability and the manipulability of the system.This paper proposes a novel approach based on the dynamic neural group model.With analysis of the control instruction sequence from operator,it is able to realize the inference about the operator intention.Under the random time-delay,the telerobot can realize the expected tasks through the local-autonomy control,which according to the operator intention and current environment information.Meanwhile,the control mode can switch with the event-based method to guarantee the stability of the system and improve the dynamic performance of the system.The experiment is demonstrated on the Internet-based telerobot soccer system.Simulation results prove the validity and feasibility of the proposed method.

关 键 词：网络遥操作 基于事件 动态神经元群 操作者意图 

分 类 号：TP393[自动化与计算机技术—计算机应用技术] TP18[自动化与计算机技术—计算机科学与技术]